waypoint_model.h

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#ifndef AUBO_SCOPE_WAYPOINT_MODEL_H
#define AUBO_SCOPE_WAYPOINT_MODEL_H
 
#include <vector>
#include <aubo_caps/domain/waypoint/waypoint.h>
 
namespace arcs {
namespace aubo_scope {
ARCS_CLASS_FORWARD(WaypointModel);
 
/**
 * @ingroup ProgramApi
 * \chinese
 * 路点模型
 * 提供从当前机器人获取路点的方法。
 * \endchinese
 * \english
 * WaypointModel
 * Provides methods that returns Waypoints from the current robot installation.
 * \endenglish
 */
class ARCS_ABI_EXPORT WaypointModel
{
public:
    WaypointModel(WaypointModel &f);
    WaypointModel(WaypointModel &&f);
    ~WaypointModel();
 
    /**
     * @ingroup WaypointModel
     * \chinese
     * 获取当前安装中的几何路点
     * @return 当前安装中的几何路点集合。
     * \endchinese
     * \english
     * Returns the geometric Waypoints of the current installation.
     * @return the geometric Waypoints of the current installation.
     * \endenglish
     */
    std::vector<WaypointPtr> getWaypoints();
 
    /**
     * @ingroup WaypointModel
     * \chinese
     * 根据名称获取路点
     * @param name 路点名称。
     * @return 对应名称的路点。
     * \endchinese
     * \english
     * Returns the Waypoint by name.
     * @param name the name of the Waypoint.
     * @return the Waypoint with the given name.
     * \endenglish
     */
    WaypointPtr getByName(const std::string &name);
 
    /**
     * @ingroup WaypointModel
     * \chinese
     * 向当前AuboScope安装中添加一个路点。添加后终端用户可选择该路点，但不可修改。
     *
     * @param suggestedName 建议的路点名称。有效名称必须匹配正则表达式
     * [a-zA-Z][a-zA-Z0-9_]{0,14}，总共15个字符。最终名称可从返回的Waypoint实例获取。
     * @param pose 路点相对于机器人基座的位姿。
     * @return 在AuboScope中创建并注册的路点。
     * @throws WaypointAlreadyAddedException 如果之前已用相同的<code>idKey</code>标
     * 识符添加过路点。使用{@link #getWaypoint(String)}检查路点是否已添加到当前安装中。
     * 使用{@link #updateWaypoint(String, Pose)}来更新路点。
     * @throws IllegalWaypointNameException 如果建议的名称不匹配所需的正则表达式。
     * \endchinese
     * \english
     * Add a Waypoint to the current AuboScope installation. This makes it
     * selectable by the end user. The Waypoint is not modifiable by the end
     * user.
     *
     * @param suggestedName Suggested name for the Waypoint. Valid names must
     * match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The
     * final name can be retrieved from the returned Waypoint instance.
     * @param pose The pose of the Waypoint with respect to the robot base.
     * @return The Waypoint created and registered in AuboScope.
     * @throws WaypointAlreadyAddedException If a Waypoint has previously been
     * added the same <code>idKey</code> identifier. Use {@link
     * #getWaypoint(String)} to check if the Waypoint has already been added to
     * the current installation. Use {@link #updateWaypoint(String, Pose)} to
     * update the Waypoint.
     * @throws IllegalWaypointNameException If the suggested name does not match
     * required regex.
     * \endenglish
     */
    WaypointPtr addWaypoint(const std::string &suggestedName,
                            const std::vector<double> &pose);
    /**
     * @ingroup WaypointModel
     * \chinese
     * 向当前AuboScope安装中添加一个包含关节角度和偏移的路点。
     *
     * @param suggestedName 建议的路点名称。有效名称必须匹配正则表达式
     * [a-zA-Z][a-zA-Z0-9_]{0,14}，总共15个字符。最终名称可从返回的Waypoint实例获取。
     * @param pose 路点相对于机器人基座的位姿。
     * @param joint 路点相对于机器人基座的关节角度。
     * @param offset 路点相对于机器人基座的TCP偏移。
     * @return 在AuboScope中创建并注册的路点。
     * @throws WaypointAlreadyAddedException 如果之前已用相同的<code>idKey</code>标
     * 识符添加过路点。
     * @throws IllegalWaypointNameException 如果建议的名称不匹配所需的正则表达式。
     * \endchinese
     * \english
     * Add a Waypoint to the current AuboScope installation with joint angles
     * and offset.
     *
     * @param suggestedName Suggested name for the Waypoint. Valid names must
     * match regex [a-zA-Z][a-zA-Z0-9_]{0,14} for a total of 15 characters. The
     * final name can be retrieved from the returned Waypoint instance.
     * @param pose The pose of the Waypoint with respect to the robot base.
     * @param joint The joint of the Waypoint with respect to the robot base.
     * @param offset The tcp of the Waypoint with respect to the robot base.
     * @return The Waypoint created and registered in AuboScope.
     * @throws WaypointAlreadyAddedException If a Waypoint has previously been
     * added the same <code>idKey</code> identifier. Use {@link
     * #getWaypoint(String)} to check if the Waypoint has already been added to
     * the current installation. Use {@link #updateWaypoint(String, Pose)} to
     * update the Waypoint.
     * @throws IllegalWaypointNameException If the suggested name does not match
     * required regex.
     * \endenglish
     */
    WaypointPtr addWaypoint(const std::string &suggestedName,
                            const std::vector<double> &pose,
                            const std::vector<double> &joint,
                            const std::vector<double> &offset);
    /**
     * @ingroup WaypointModel
     * \chinese
     * 从此AuboCap中移除已添加的路点。使用该路点的程序节点将变为未定义状态，因为路点
     * 不再可解析。
     *
     * @param name 添加路点时使用的名称。
     * @throws WaypointNotFoundException 如果没有与提供的<code>idKey</code>对应
     * 的路点存在。
     * \endchinese
     * \english
     * Remove a Waypoint added by this AuboCap from AuboScope. Program nodes
     * using the Waypoint will be become undefined because the Waypoint is no
     * longer resolvable.
     *
     * @param name The key used to add the Waypoint with.
     * @throws WaypointNotFoundException If no Waypoint exists with the provided
     * <code>idKey</code>.
     * \endenglish
     */
    void removeWaypoint(const std::string &name);
 
    /**
     * @ingroup WaypointModel
     * \chinese
     * 根据名称重命名模型中的路点
     * @param name 原始名称。
     * @param newName 新名称。
     * \endchinese
     * \english
     * Rename the waypoint in the model by the name.
     * @param name the original name.
     * @param newName the new name.
     * \endenglish
     */
    void renameWaypoint(const std::string &name, const std::string &newName);
 
private:
    friend class DataSwitch;
    WaypointModel();
    void *d_{ nullptr };
};
 
} // namespace aubo_scope
} // namespace arcs
 
#endif // AUBO_SCOPE_WAYPOINT_MODEL_H